Automatic hemming equipment for automobile body-in-white closure parts

Abstract

The present invention discloses an automatic hemming device for automobile body-in-white closure parts, comprising a frame, a tire membrane, a roller trolley and a hemming roller. The frame is provided with a supporting positioning structure, the tire membrane is provided with a roller, and the roller trolley is provided with at least one wheel travel motor. The roller trolley can travel along the roller under the action of the wheel travel motor. The roller driving mechanism comprises a position driving mechanism for adjusting the inner and outer positions and height of the hemming roller and an angle driving mechanism for adjusting the hemming angle of the hemming roller. The hemming roller is connected to the roller trolley through the position driving mechanism. The present invention has a simple structure, is easy to install and adjust, has automatic hemming, saves time and effort to run along the track, has high hemming efficiency, and the roller trolley can be reused, which reduces processing costs. It is suitable for flexible hemming processing of small batch stamping parts of multiple models.

Description

Technical Field

[0001] The invention relates to an automatic hemming device for automobile body-in-white closing parts, belonging to the technical field of automobile stamping parts processing. Background Art

[0002] The closing parts in the automobile body-in-white stamping parts are usually composed of an outer panel wrapping an inner panel. After the inner panel is placed, the outer panel's flange or folded edge is hemmed. Rolling is one of the commonly used processing technologies for automobile body-in-white closing parts. Currently, a press is used for hemming. The upper mold of the press presses the lower mold, and the folded edge is pressed tightly by the mold closing to achieve the bending of the folded edge, so that the outer panel wraps the inner panel to achieve the purpose of assembly. Although this method can achieve the purpose of assembling the inner and outer panels, the press is expensive and the investment cost is high.

[0003] There is also an existing method of using a robot to carry a rolling tool for rolling. The robot drives the roller to roll the folded edge of the outer plate 101 of the stamping workpiece 10 and wrap the inner plate 102. It can also ensure a small working area and flexible manufacturing, especially in the hemming of some small batch parts. However, this type of rolling adds an additional robot. In addition, the robot-linked rolling debugging takes a very long time. Therefore, whether it is a press or a robot for rolling, the initial investment cost is too high, resulting in high processing costs for stamping parts. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an automatic hemming device for automobile body-in-white closure parts which has a simple structure, is easy to operate, has high hemming efficiency, saves time and effort, and has low processing cost, and is particularly suitable for hemming small batches of parts.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: an automatic hemming device for automobile body-in-white closure parts, comprising a frame, a tire membrane arranged on the frame for positioning and supporting a workpiece, a roller trolley arranged on the tire membrane, and a hemming roller arranged on the roller trolley through a roller driving mechanism, the frame is provided with a supporting positioning structure for stably positioning the workpiece, the tire membrane is provided with a roller, the roller trolley is provided with at least one wheel travel motor, and the roller trolley can travel along the roller under the action of the wheel travel motor;

[0006] The roller driving mechanism includes a position driving mechanism for adjusting the inner and outer positions and height of the hemming roller and an angle driving mechanism for adjusting the hemming angle of the hemming roller. The hemming roller is connected to the roller carriage via the position driving mechanism.

[0007] The beneficial effects of the present invention are as follows: first, according to the angle of the workpiece before flanging or folding, determine how many processes the stamping part is rolled. No matter how many processes are used, it is only necessary to use the angle driving mechanism to adjust the rolling angle of the rolling roller installed on the rolling trolley to the required corresponding angle. The position driving mechanism can adjust the height and the lateral inner and outer positions of the rolling roller. During specific processing, the workpiece to be rolled is stably placed on the fetal membrane under the action of the supporting positioning structure. Since the fetal membrane is made according to the workpiece, the workpiece can be placed on the fetal membrane and can be completely fitted with the fetal membrane. The rolling trolley is embedded in the rolling track of the fetal membrane, and the wheel travel motor is activated to drive the rolling trolley to travel along the rolling track of the fetal membrane. The rolling roller with the adjusted angle on the rolling trolley acts on the folding of the workpiece, and the folding roller can be applied to the workpiece to roll the folding to the required angle. The rolling trolley and the rolling track are unified, and the trolley can be reused, which improves the use efficiency of the rolling trolley and reduces costs. In summary, the present invention has a simple structure, is easy to install and adjust, has automated rolling, saves time and effort running along the track, has high rolling efficiency, and the rolling trolley can be reused, which reduces processing costs. It is especially suitable for flexible rolling processing of small batch stamping parts of multiple models.

[0008] Based on the above technical solution, the present invention can also be improved as follows.

[0009] Furthermore, the track of the raceway is adapted to the track of the folded edge of the workpiece to be processed.

[0010] The beneficial effect of adopting the above further solution is to ensure that the hemming roller can always perform hemming operations on the folded edges of the workpiece under the action of the roller carriage moving along the roller track, thereby ensuring the hemming quality of the workpiece.

[0011] Furthermore, a workpiece-conforming surface for supporting the workpiece is provided on the top of the fetal membrane, and the vertical spacing between the raceway and the workpiece-conforming surface is equal.

[0012] The beneficial effect of adopting the above-mentioned further scheme is that when the workpiece is placed on the fetal membrane, the workpiece can keep in close contact with the workpiece conforming surface, and the vertical spacing between the raceway and the workpiece conforming surface is consistent everywhere, thereby ensuring the smooth movement of the raceway trolley in the raceway, and at the same time ensuring the pressure of the rolling roller on the folding of the outer plate during rolling, thereby ensuring the quality of the folding.

[0013] Furthermore, the position driving mechanism includes a transverse guide rack, a transverse gear meshing with the transverse guide rack, a transverse servo motor for driving the transverse gear to rotate, a vertical guide rack, a vertical gear meshing with the vertical guide rack, and a vertical servo motor for driving the vertical gear to rotate, the transverse guide rack is connected to the rolling trolley, the vertical guide rack is connected to the transverse guide rack through a gear mounting seat, the transverse and vertical servo motors are respectively mounted on the gear mounting seat, and the roller frame of the rolling roller is hingedly mounted on the vertical guide rack.

[0014] The beneficial effect of adopting the above-mentioned further scheme is that the lateral servo motor is activated to drive the hemming roller to move forward and backward, thereby adjusting the front and rear position of the hemming roller, and the vertical servo motor is activated to drive the hemming roller to move up and down, thereby adjusting the hemming height of the hemming roller. Therefore, the hemming position of the hemming roller can be adjusted by the position driving mechanism.

[0015] Furthermore, the angle driving mechanism includes an angle servo motor, a pin is provided at the top of the vertical guide rack, the roller frame is key-connected to the pin, and the output shaft of the angle servo motor is connected to the pin.

[0016] The beneficial effect of adopting the above-mentioned further scheme is that the angle servo motor is installed on the vertical guide rack. When the angle servo motor is activated, it drives the pin shaft to rotate. Since the roller frame is keyed to the pin shaft, the roller frame rotates synchronously with the pin shaft. The angle servo motor drives the hemming roller to change the angle during rolling, thereby realizing the adjustment of the hemming angle of the hemming roller in each process.

[0017] Furthermore, the rolling track trolley includes a frame, transverse wheels and vertical wheels arranged on the frame, the wheel travel motor is installed on the frame, and the output shaft of the wheel travel motor is connected to the wheel axle of the transverse wheel.

[0018] The beneficial effect of adopting the above further scheme is that the output shaft of the wheel travel motor is connected to the axle of the lateral wheel, and the wheel travel motor is activated to drive the rolling track trolley forward and backward. The wheel can use a wheel with a large friction coefficient, or two servo motors can be used in linkage to synchronously drive the two wheels to realize automatic walking of the rolling track trolley in the rolling track.

[0019] Furthermore, the frame includes an inner mounting plate and an outer mounting plate, the vertical wheels are correspondingly mounted on the inner and outer mounting plates through inner and outer wheel seats, an adjustment bolt is provided between the inner and outer wheel seats, the transverse wheels include a first transverse plane wheel and a second transverse plane wheel installed between the inner and outer mounting plates, and the vertical wheels include a second vertical plane wheel and a third vertical plane wheel arranged on the inner mounting plate, and a first vertical plane wheel and a fourth vertical plane wheel arranged on the outer mounting plate.

[0020] The beneficial effect of adopting the above further scheme is that the first vertical plane wheel and the second vertical plane wheel are respectively positioned on the outer and inner sides of the upper rib of the raceway, the third vertical plane wheel and the fourth vertical plane wheel are respectively positioned on the inner and outer sides of the lower rib of the raceway, the first transverse plane wheel support is positioned at the bottom of the upper rib of the raceway, and the second transverse plane wheel support is positioned at the top of the lower baffle of the raceway. The spacing between the corresponding wheels is stable, unique and precise, and the function of the adjusting bolt is to adjust the spacing between the inner and outer mounting plates, thereby adjusting the spacing between the vertical wheels. The specific adjusting bolt has threads at both ends, one end is a right-handed thread, and the other end is a left-handed thread, so as to adjust the coordination between the raceway trolley and the raceway, thereby achieving stable positioning of the raceway trolley in the raceway. The raceway trolley is provided with six rollers, each of which will be in close contact with the surface of the raceway, thereby ensuring that the running track of the raceway trolley is unique.

[0021] Furthermore, the raceway includes a raceway positioning cavity, an upper rib and a lower rib arranged at the opening of the raceway positioning cavity.

[0022] Furthermore, the upper rib includes a first vertical surface, a second vertical surface, and a first transverse surface connecting the first and second vertical surfaces, and the lower rib includes a third vertical surface, a fourth vertical surface, and a second transverse surface connecting the third and fourth vertical surfaces, the first transverse surface and the second transverse surface are respectively parallel to the workpiece following surface, and the first vertical surface is parallel to the second vertical surface, the third vertical surface, and the fourth vertical surface.

[0023] The beneficial effect of adopting the above further scheme is that the curvature of the workpiece following the profile surface of the roller and the tire membrane changes in a consistent manner, the vertical surface and the following profile surface always remain perpendicular, and the outer contour line of the following profile surface is consistent with the folding contour line of the workpiece, and the vertical surface of the roller can always maintain a consistent spacing with the outer contour line. No matter how the workpiece following profile surface changes, the spacing between the first vertical surface and the second vertical surface is unique and accurate and remains unchanged, the spacing between the third vertical surface and the fourth vertical surface is also the same and remains unchanged, the transverse surface and the following profile surface always remain parallel, and no matter how the following profile surface changes, the spacing between the first and second transverse surfaces is constant and accurate, that is, the spacing between the two is the same everywhere and always remains consistent, thereby ensuring the pressure of the hemming roller on the folding of the outer plate during hemming, thereby ensuring the quality of the hemming.

[0024] Furthermore, the supporting and positioning structure includes a workpiece pressing block for pressing the workpiece.

[0025] The beneficial effect of adopting the above further solution is that the pressing block can ensure the position accuracy of the inner panel, and at the same time assist and ensure the positioning accuracy of the outer panel, thereby ensuring the hemming quality of the workpiece.

[0026] Furthermore, a plurality of the workpiece pressing blocks are mounted on a pressing block mounting frame.

[0027] The beneficial effect of adopting the above further solution is that it facilitates the workpiece pressing block to quickly and efficiently press the workpiece, thereby improving the positioning efficiency of the workpiece.

[0028] Furthermore, the supporting and positioning structure includes at least one suction cup for adsorbing the workpiece, and the suction cup is arranged on the frame through a suction cup mounting frame.

[0029] The beneficial effect of adopting the above further scheme is that the workpiece is placed on the fetal membrane, the fetal membrane and the workpiece are fitted accordingly, and then the outer panel of the workpiece can be fixed by suction cups to ensure that the outer panel does not move when deformed by force, thereby avoiding affecting the hemming quality and hemming effect of the workpiece.

[0030] Furthermore, the support positioning structure also includes at least one workpiece positioning block, and the workpiece positioning block is arranged on the frame through a positioning block mounting frame.

[0031] The beneficial effect of adopting the above further scheme is that the suction cup is a ring structure, and when the suction cup adsorbs the workpiece, the workpiece is easy to sink, while the setting of the workpiece positioning block can stably support the workpiece and prevent the workpiece from sinking, thereby ensuring the positioning accuracy of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0033] Figure 2 It is a right view structural schematic diagram of the present invention;

[0034] Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention;

[0035] Figure 4 It is a structural schematic diagram of the suction cup of the present invention;

[0036] Figure 5 It is a schematic diagram of the structure of the fetal membrane of the present invention;

[0037] Figure 6 for Figure 5 The cross-sectional view along the AA direction;

[0038] Figure 7 for Figure 5 The cross-sectional view along the BB direction;

[0039] Figure 8 This is a schematic diagram of the structure of the fetal membrane of the present invention installed on a frame;

[0040] Fig. 9 It is a schematic diagram of the structure of the roller trolley and the edge rolling roller of the present invention;

[0041] Fig.10 It is a schematic diagram of the split structure of the rolling track trolley of the present invention;

[0042] Fig.11 It is a schematic diagram of the structure of the hemming roller being raised according to the present invention;

[0043] Fig.12 It is a three-dimensional structural schematic diagram of a workpiece of the present invention;

[0044] Fig.13 It is a schematic diagram of the cross-sectional structure of a workpiece of the present invention;

[0045] Fig.14 for Fig.13 A partial enlarged view of point C in the middle;

[0046] Fig.15 It is a schematic diagram of the structure of the workpiece processed by the hemming roller of the present invention from a top view;

[0047] Fig.16 It is a structural schematic diagram of a workpiece processed by a hemming roller according to the present invention when viewed from above;

[0048] In the figure, 1, frame; 2, tire membrane; 201, roller; 202, follow-up surface; 203, roller positioning cavity; 204, upper rib; 205, lower rib; 3, roller trolley; 301, wheel travel motor; 302, inner mounting plate; 303, outer mounting plate; 304, first horizontal surface wheel; 305, second horizontal surface wheel; 306, second vertical surface wheel; 307, third vertical surface wheel; 308, first vertical surface wheel; 309, fourth vertical surface wheel Surface wheel; 310, adjusting bolt; 311, lateral guide rack; 312, lateral servo motor; 313, vertical guide rack; 314, vertical servo motor; 315, gear mounting seat; 316, angle servo motor; 317, pin; 4, hemming roller; 401, roller frame; 5, suction cup; 6, workpiece positioning block; 7, positioning block mounting frame; 8, workpiece pressure block; 9, pressure block mounting frame; 10, workpiece; 101, outer plate; 102, inner plate. DETAILED DESCRIPTION

[0049] The principles and features of the present invention are described below in conjunction with examples. The examples are only used to explain the present invention and are not used to limit the scope of the present invention.

[0050] like Figure 1-Figure 16 As shown, an automatic hemming device for automobile body-in-white closing parts comprises a frame 1, a tire membrane 2 arranged on the frame for positioning and supporting a workpiece, a roller trolley 3 arranged on the tire membrane, and a hemming roller 4 arranged on the roller trolley through a roller driving mechanism, wherein the frame is provided with a supporting positioning structure for stably positioning the workpiece, the tire membrane is provided with a roller 201, the roller trolley is provided with at least one wheel travel motor 301, and the roller trolley can travel along the roller under the action of the wheel travel motor;

[0051] The roller driving mechanism includes a position driving mechanism for adjusting the inner and outer positions and height of the hemming roller and an angle driving mechanism for adjusting the hemming angle of the hemming roller. The hemming roller is connected to the roller carriage via the position driving mechanism.

[0052] The track of the rolling track is adapted to the track of the folded edge of the workpiece to be processed, so that the rolling roller can always perform the rolling operation on the folded edge of the workpiece under the action of the rolling track trolley traveling along the rolling track, thereby ensuring the quality of the rolling edge of the workpiece.

[0053] The top of the tire membrane 2 is provided with a workpiece following surface 201 for supporting the workpiece, and the vertical spacing between the roller and the workpiece following surface is equal. When the workpiece is placed on the tire membrane, the workpiece can be kept in close contact with the workpiece following surface, and the vertical spacing between the roller and the workpiece following surface is consistent everywhere, which ensures that the roller trolley can move smoothly in the roller, and at the same time ensures the pressure of the roller wheel on the folding of the outer plate during the folding, thereby ensuring the quality of the folding.

[0054] The position driving mechanism includes a transverse guide rack 311, a transverse gear meshing with the transverse guide rack, a transverse servo motor 312 for driving the transverse gear to rotate, a vertical guide rack 313, a vertical gear meshing with the vertical guide rack, and a vertical servo motor 314 for driving the vertical gear to rotate. The transverse guide rack is connected to the roller carriage, and the vertical guide rack is connected to the transverse guide rack through a gear mounting seat 315. The transverse and vertical servo motors are respectively mounted on the gear mounting seat, and the roller frame of the hemming roller is hingedly mounted on the vertical guide rack. The transverse servo motor is actuated to drive the hemming roller to move forward and backward, thereby adjusting the hemming front and rear position of the hemming roller. The vertical servo motor is actuated to drive the hemming roller to move up and down, thereby adjusting the hemming height of the hemming roller. Therefore, the hemming position of the hemming roller can be adjusted through the position driving mechanism.

[0055] The angle driving mechanism includes an angle servo motor 316, a pin 317 is provided at the top of the vertical guide rack, the roller frame is key-connected to the pin, and the output shaft of the angle servo motor is connected to the pin. The angle servo motor is installed on the vertical guide rack, and the angle servo motor is actuated to drive the pin to rotate. Since the roller frame is key-connected to the pin, the roller frame rotates synchronously with the pin. The angle servo motor drives the hemming roller to change the angle during rolling, so as to adjust the hemming angle of the hemming roller in each process.

[0056] The rolling track trolley includes a frame, a transverse wheel and a vertical wheel arranged on the frame, the wheel travel motor is installed on the frame, and the output shaft of the wheel travel motor is connected to the wheel axle of the transverse wheel. The output shaft of the wheel travel motor is connected to the wheel axle of the transverse wheel, and the wheel travel motor is activated to drive the rolling track trolley forward and backward. The wheel can use a wheel with a large friction coefficient, or two servo motors can be linked to synchronously drive the two wheels to realize the automatic walking of the rolling track trolley in the rolling track.

[0057] The frame includes an inner mounting plate 302 and an outer mounting plate 303. The vertical wheels are correspondingly mounted on the inner and outer mounting plates through inner and outer wheel seats. An adjusting bolt 310 is provided between the inner and outer wheel seats. The transverse wheels include a first transverse plane wheel 304 and a second transverse plane wheel 305 installed between the inner and outer mounting plates. The vertical wheels include a second vertical plane wheel 306 and a third vertical plane wheel 307 arranged on the inner mounting plate, and a first vertical plane wheel 308 and a fourth vertical plane wheel 309 arranged on the outer mounting plate. The first vertical plane wheel and the second vertical plane wheel are respectively positioned on the outer and inner sides of the upper rib of the raceway, the third vertical plane wheel and the fourth vertical plane wheel are respectively positioned on the inner and outer sides of the lower rib of the raceway, the first transverse plane wheel support is positioned at the bottom of the upper rib of the raceway, and the second transverse plane wheel support is positioned at the top of the lower rib of the raceway. The spacing between the corresponding wheels is stable, unique and accurate. The adjusting bolt is used to adjust the spacing between the inner and outer mounting plates, thereby adjusting the spacing between the vertical wheels. The two ends of the specific adjusting bolt are threaded, one end is right-handed thread and the other end is left-handed thread, which can adjust the coordination between the roller trolley and the roller track, so as to achieve the stable positioning of the roller trolley in the roller track. The roller trolley is equipped with six rollers, each of which will fit in contact with the surface of the roller track, so as to ensure the unique running track of the roller trolley.

[0058] The raceway includes a raceway positioning cavity 203, an upper rib 204 and a lower rib 205 arranged at the opening of the raceway positioning cavity.

[0059] The upper rib includes a first vertical surface, a second vertical surface and a first transverse surface connecting the first and second vertical surfaces, and the lower rib includes a third vertical surface, a fourth vertical surface and a second transverse surface connecting the third and fourth vertical surfaces, the first transverse surface and the second transverse surface are parallel to the workpiece following surface respectively, and the first vertical surface is parallel to the second vertical surface, the third vertical surface and the fourth vertical surface. The curvature of the rolling track and the workpiece following surface on the tire membrane is consistent, the vertical surface is always perpendicular to the following surface, and the outer contour line of the following surface is consistent with the folding contour line of the workpiece, and the vertical surface of the rolling track can always maintain a consistent spacing with the outer contour line. No matter how the workpiece conforming surface changes, the spacing between the first vertical surface and the second vertical surface is unique and precise and remains unchanged. The spacing between the third vertical surface and the fourth vertical surface is also the same and remains unchanged. The transverse surface and the conforming surface always remain parallel. No matter how the conforming surface changes, the spacing between the first and second transverse surfaces is constant and precise, that is, the spacing between the two is the same everywhere and always remains consistent, thereby ensuring the pressure of the rolling roller on the folding of the outer panel during rolling, thereby ensuring the quality of the folding.

[0060] The supporting and positioning structure comprises a workpiece pressing block 8 for pressing the workpiece. The pressing block can ensure the position accuracy of the inner plate, assist and ensure the positioning accuracy of the outer plate, thereby ensuring the hemming quality of the workpiece.

[0061] A plurality of the workpiece pressing blocks are mounted on the pressing block mounting frame 9, so that the workpiece pressing blocks can quickly and efficiently press the workpieces, thereby improving the positioning efficiency of the workpieces.

[0062] The supporting and positioning structure includes at least one suction cup 5 for adsorbing the workpiece, and the suction cup is arranged on the frame through a suction cup mounting frame. The suction cup is arranged inside the fetal membrane. The workpiece is placed on the fetal membrane, and the fetal membrane and the workpiece are correspondingly fitted, and then the outer plate of the workpiece can be adsorbed and fixed by the suction cup to ensure that the outer plate does not move when deformed by force, so as to avoid affecting the hemming quality and hemming effect of the workpiece.

[0063] The support and positioning structure further includes at least one workpiece positioning block 6, which is arranged on the frame through a positioning block mounting frame 7. The suction cup is an annular structure, and when the suction cup adsorbs the workpiece, the workpiece is prone to sink, while the setting of the workpiece positioning block can stably support the workpiece and prevent the workpiece from sinking, thereby ensuring the positioning accuracy of the workpiece.

[0064] There are coils around the fetal membrane, including electrical wires and signal wires. The rolling trolley is equipped with carbon brushes, which are connected to the lines to ensure the supply of electrical signals and communication signals.

[0065] The roller carriage is driven by the wheel travel motor to automatically move along the roller track. The hemming roller is driven by the roller carriage. The hemming roller is installed with bearings inside, which makes the rolling smoother. According to the process requirements, the hemming roller can be adjusted to the corresponding hemming angle through the angle servo motor. For example, the thickness of the plate, the angle before folding, etc. are combined to determine the number of hemming operations. Figure 12-14 As shown, to flatten a 90-degree flange to 0 degrees, the first roller can press 90 degrees to 45 degrees, and the second roller can press 45 degrees to 0 degrees. Fig.14 The partial enlarged picture has shown the folding state of the outer panel after the first and second rolling passes; of course, it can also be divided into three steps. In the first process, the roller with the corresponding angle can be used to press the 90-degree fold into a 60-degree fold, and in the second process, the roller with the corresponding angle can be used to press the 60-degree fold into 30 degrees. In the third process, the roller with the corresponding angle is used to press the 30-degree fold into 0 degrees to complete the rolling of the workpiece; in short, there are several rolling passes, and the rolling rollers on the rolling trolley can be adjusted to several postures, that is, the rolling rollers are adjusted to the corresponding rolling angles under the action of the angle servo motor, and several rolling trolleys can also be installed on the tire membrane, and the rolling rollers on the rolling trolley can be adjusted to the corresponding rolling angles through the angle servo motor.

[0066] After the workpiece 10 is placed on the fetal membrane, the suction cup is adsorbed, and then the workpiece pressure block of the pressure block mounting frame is placed on it. Before the workpiece is placed, the angle servo motor can be used to rotate the hemming roller to flip it up and away from the workpiece to avoid affecting the workpiece placement. According to the pre-set order, the roller in the first posture, the roller trolley takes the roller in the first posture for one circle; then it changes to the second posture, and the trolley takes the roller in the second posture for a second circle, until all the postures are completed, the hemming is completed, and after the inner plate 102 and the outer plate 101 are rolled together, the suction cup is deflated, the pressure block mounting frame is removed, and finally the stamping part can be taken out.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic hemming device for automobile body-in-white closure parts, characterized in that: It includes a frame, a fetal membrane arranged on the frame for positioning and supporting a workpiece, a roller trolley arranged on the fetal membrane, and a rolling roller arranged on the roller trolley through a roller driving mechanism, wherein the frame is provided with a supporting and positioning structure for stably positioning the workpiece, the fetal membrane is provided with a roller, the roller trolley is provided with at least one wheel travel motor, and the roller trolley can travel along the roller under the action of the wheel travel motor; The roller driving mechanism includes a position driving mechanism for adjusting the inner and outer positions and height of the hemming roller and an angle driving mechanism for adjusting the hemming angle of the hemming roller, and the hemming roller is connected to the roller carriage through the position driving mechanism; The position driving mechanism includes a transverse guide rack, a transverse gear meshing with the transverse guide rack, a transverse servo motor for driving the transverse gear to rotate, a vertical guide rack, a vertical gear meshing with the vertical guide rack, and a vertical servo motor for driving the vertical gear to rotate, the transverse guide rack is connected to the roller trolley, the vertical guide rack is connected to the transverse guide rack through a gear mounting seat, the transverse and vertical servo motors are respectively mounted on the gear mounting seat, and the roller frame of the hemming roller is hingedly mounted on the vertical guide rack; The angle driving mechanism comprises an angle servo motor, a pin is provided on the top of the vertical guide rack, the roller frame is key-connected with the pin, and the output shaft of the angle servo motor is connected with the pin; The supporting and positioning structure includes a workpiece pressing block for pressing the workpiece, and multiple workpiece pressing blocks are installed on a pressing block mounting frame; the supporting and positioning structure also includes at least one suction cup for adsorbing the workpiece, and a coil is arranged around the fetal membrane, including electric wires and signal wires. The rolling trolley is equipped with carbon brushes, which are connected to the lines by the carbon brushes to ensure the supply of electrical signals and communication signals.

2. The automatic hemming equipment according to claim 1, characterized in that: The trajectory of the raceway is adapted to the trajectory of the folded edge of the workpiece to be processed.

3. The automatic hemming equipment according to claim 2, characterized in that: A workpiece-conforming surface for supporting the workpiece is provided on the top of the tire membrane, and the vertical spacing between the raceway and the workpiece-conforming surface is equal.

4. The automatic hemming equipment according to claim 3, characterized in that: The rolling track trolley comprises a frame, transverse wheels and vertical wheels arranged on the frame, the wheel travel motor is installed on the frame, and the output shaft of the wheel travel motor is connected to the wheel axle of the transverse wheel.

5. The automatic hemming equipment according to claim 4, characterized in that: The frame includes an inner mounting plate and an outer mounting plate, the vertical wheels are correspondingly mounted on the inner and outer mounting plates through inner and outer wheel seats, an adjustment bolt is provided between the inner and outer wheel seats, the transverse wheels include a first transverse plane wheel and a second transverse plane wheel installed between the inner and outer mounting plates, and the vertical wheels include a second vertical plane wheel and a third vertical plane wheel arranged on the inner mounting plate, and a first vertical plane wheel and a fourth vertical plane wheel arranged on the outer mounting plate.

6. The automatic hemming equipment according to claim 4, characterized in that: The raceway comprises a raceway positioning cavity, an upper rib and a lower rib arranged at the opening of the raceway positioning cavity.

7. The automatic hemming equipment according to claim 6, characterized in that: The upper rib includes a first vertical surface, a second vertical surface and a first transverse surface connecting the first and second vertical surfaces, the lower rib includes a third vertical surface, a fourth vertical surface and a second transverse surface connecting the third and fourth vertical surfaces, the first transverse surface and the second transverse surface are parallel to the workpiece following surface respectively, and the first vertical surface is parallel to the second vertical surface, the third vertical surface and the fourth vertical surface.

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